#!/usr/bin/env python
# -*- coding=utf-8 -*-
 
# @File    :   test.py
# @Version :   1.0
# @Author  :   xin
# @Time    :   2021/12/28 13:28:28
#Description:

from cartographer_ros_msgs.msg import *
from cat1_msg1.msg import *
from nav_msgs.msg import *
import rospy

def mapCallback(map):
    print("map callback")
    print(map)
    Person()

if __name__ == "__main__":
    rospy.init_node("ros_node_aaa")
    rospy.loginfo("Starting RosNode.")
    # srv_client_handler = rospy.ServiceProxy("start_trajectory", StartTrajectory)
    # SubmapEntry()
    rospy.Subscriber("/map", OccupancyGrid, mapCallback)
    
    rospy.spin()
    pass